This　research　addresses　the　issues　of　weak　anti-disturbance　ability,　fast　response,　and　incompatibility　of　overshoot　in　the　control　process　of　brushless　DC　motors　(BLDCs).　A　six-step　commutation　control　method　based　on　second-order　active　disturbance　rejection　control　(ADRC)　is　derived　following　the　analysis　of　the　BLDC　model　and　the　mathematical　model　of　ADRC.　A　control　model　of　the　BLDC　using　both　PI　and　ADRC　is　constructed.　Detailed　comparative　and　quantitative　analyses　of　the　simulation　results　using　PI　and　ADRC　are　conducted,　focusing　on　the　anti-load　disturbance　capabilities　using　the　integrated　square　error　(ISE),　integrated　time　square　error　(ITSE),　integrated　absolute　error　(IAE),　and　integrated　time　absolute　error　(ITAE).　Experimental　testing　on　the　STM32F4　controller　is　also　carried　out,　analyzing　four　error　integral　criteria　in　depth.　The　results　indicate　that　both　the　ADRC　and　PI　control　modes　can　track　the　target　signal　without　overshooting,　demonstrating　strong　anti-load　disturbance　ability　and　robustness　at　varying　working　speeds.　In　the　BLDC　control　system,　using　the　ADRC　control　method　can　achieve　fast　and　non-overshoot　tracking　of　target　signals　compared　to　the　PI　control　method,　and　ADRC　has　stronger　resistance　to　load　disturbances.